VALENCIA, Spain -- Spain beat the Netherlands 5-4 on penalties at home on Sunday to reach the Nations League semi-finals after the second leg of their thrilling contest ended 3-3.

After a see-saw tie ended 5-5 on aggregate, the teams could not be separated through the first three rounds of a tense shootout, before both sides missed their fourth penalties.

Yet the decisive blow was landed in the sixth round when the Netherlands' Donyell Malen saw his attempt saved by Spain keeper Unai Simon, allowing Pedri to convert and secure the win.

In the first leg, Spain grabbed a stoppage-time equaliser against 10-man Netherlands to secure a 2-2 draw in Rotterdam ahead of the return match at Mestalla Stadium.

The hosts grabbed an early lead after Jan Paul van Hecke brought down Mikel Oyarzabal, who calmly converted the resulting penalty in the eighth minute.

Spain nearly doubled their advantage moments later when Nico Williams broke through one-on-one with Bart Verbruggen, but the Dutch keeper spread himself to make a crucial save and deflect the shot away.

The rest of the first half turned into a battle with the Dutch dominating possession but with Spain threatening on several occasions.

At the start of the second half, Spain's Robin Le Normand fouled Memphis Depay, who converted with ease from the penalty spot to level the score for the Dutch.

Spain regained the lead in the 67th minute from a counter-attack, with Williams setting up an unmarked Oyarzabal, whose initial shot was blocked by Verbruggen before he headed in the rebound.

The Netherlands fought back in the 79th minute, with Ian Maatsen marking his international debut by firing in a powerful strike from a tight angle to level the score and send the match to extra time.

Spain went ahead again 13 minutes into extra time when Lamine Yamal, receiving a long pass from Dutch-born Dean Huijsen, shrugged off his marker and curled a sumptuous left-footed shot into the far corner.

But the Netherlands refused to give up, and three minutes into the second half of extra time, Xavi Simons equalised from the penalty spot after Spain's Simon fouled him, sending the match to penalties where the hosts eventually prevailed.

Spain will now face France, who also advanced with a narrow shootout win over Croatia, in the semi-final on June 5 in Stuttgart.